MABodyMotion.hpp

/*
 *  This file is part of the AiBO+ project
 *
 *  Copyright (C) 2005-2016 Csaba Kertész (csaba.kertesz@gmail.com)
 *
 *  AiBO+ is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  AiBO+ is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
 *
 */

#pragma once

#include "core/MANum.hpp"
#include "MARobotStateUpdater.hpp"

#include <MCTimer.hpp>

struct MAAccelData
{
  MAAccelData();

  MANum<int> Raw;
  MANum<int> Degree;
};

namespace MA
{
typedef enum
{
  UnknownBodyState = -1,       
  NormalBodyState = 1,         
  PickupMode = 2,              
  FallingOver = 3,             
  Poked = 4,                   
} BodyStateType;

typedef enum
{
  UnknownFloor = -500,         
  WoodFlooring = 0,            
  Field = 500,                 
  Carpet = 1000,               
  FoamMat = 1500,              
  Vinyl = 2000,                
  Tiles = 2500,                
  CarpetedFloor = 3000,        
  UserDefinedFloor = 10000,    
} FloorSurfacesType;

typedef enum
{
  HardFlooring = 0,            
  SoftFlooring = 10,           
  VerySoftFlooring = 20,       
} FloorSurfaceSoftnessType;
}

std::string MAFloorSurfacesTypeStr(const MA::FloorSurfacesType surface);

std::string MAFloorSurfaceSoftnessTypeStr(const MA::FloorSurfaceSoftnessType surface_softness);

MA::FloorSurfaceSoftnessType MAMapFloorSurfaceToSoftness(const MA::FloorSurfacesType surface);

struct MAFloorSurface
{
  MAFloorSurface();

  /*
   * Floor surface
   *
   * -1 - Unknown
   * 0 - Wood flooring
   * 500 - Field
   * 1000 - Carpet
   * 1500 - Foam mat
   * 2000 - Vinyl
   * 2500 - Tiles
   * 3000 - Carpeted floor
   * 3500 - User defined floor
   *
   */
  MANum<int> Surface;
  /*
   * Current floor surface
   *
   * -1 - Unknown
   * 0 - Wood flooring
   * 500 - Field
   * 1000 - Carpet
   * 1500 - Foam mat
   * 2000 - Vinyl
   * 2500 - Tiles
   * 3000 - Carpeted floor
   * 3500 - User defined floor
   *
   */
  MANum<int> CurrentSurface;
  /*
   * Owner feedback about the real surface
   *
   * -1 - Unknown
   * 0 - Wood flooring
   * 500 - Field
   * 1000 - Carpet
   * 1500 - Foam mat
   * 2000 - Vinyl
   * 2500 - Tiles
   * 3000 - Carpeted floor
   * 3500 - User defined floor
   *
   */
  MANum<int> OwnerFeedback;
};

struct MABodyMotion : public MARobotStateUpdater
{
  MABodyMotion();

  bool IsBodyRollInWalkRange() const;

  void StartMotionControlTimer();

  void StopMotionControlTimer();

private:
  virtual void UpdateRobotState(MARobotState& state) override;

  void GenerateBodyPitchAndRoll();
  void GenerateLyingOnBack(MARobotState& state);
  void GenerateLyingOnBackLeftSide(MARobotState& state);
  void GenerateLyingOnBackRightSide(MARobotState& state);
  void GenerateBodyOnLeftSide(MARobotState& state);
  void GenerateBodyOnRightSide(MARobotState& state);
  void GenerateLying(MARobotState& state);
  void GenerateLyingOnLeftSide(MARobotState& state);
  void GenerateLyingOnRightSide(MARobotState& state);
  void GenerateSitting(MARobotState& state);
  void GenerateFlying(MARobotState& state);
  void GeneratePoked(MARobotState& state);

public:
  /*
   * The robot is on the charging station
   * 0 - Not on station 1 - The dog is on the station
   */
  MANum<int> OnStation;
  MAAccelData AccelX;
  MAAccelData AccelY;
  MAAccelData AccelZ;
  MANum<int> BodyPitch;
  MANum<int> BodyRoll;
  /*
   * The orientation of the body of the robot
   * 0 - Normal orientation 100 - The body is upside down
   */
  MANum<int> UpsideDown;
  /*
   * The body of the robot in lateral position
   * 0 - On the left side 50 - Upside down 100 - On the right side
   */
  MANum<int> LateralPosition;
  /*
   * How much the orientation is head stand
   * 0 - Head stand 100 - Back stand.
   */
  MANum<int> HeadStand;
  /*
   * The robot is lying on its back
   * 0 - Not on the back 100 - On the back
   */
  MANum<int> LyingOnBack;
  /*
   * The robot is lying on the back/left side
   * 0 - Not in position 100 - Lying on the back/left side
   */
  MANum<int> LyingOnBackLeftSide;
  /*
   * The robot is lying on the back/right side
   * 0 - Not in position 100 - Lying on the back/right side
   */
  MANum<int> LyingOnBackRightSide;
  /*
   * The robot body is on the left side
   * 0 - Not in position 100 - Lying on the left side
   */
  MANum<int> BodyOnLeftSide;
  /*
   * The robot body is on the right side
   * 0 - Not in position 100 - Lying on the right side
   */
  MANum<int> BodyOnRightSide;
  /*
   * The robot is in lying position
   * 0 - Not lying 100 - Lying
   */
  MANum<int> Lying;
  /*
   * The robot is lying on the left side
   * 0 - Not in position 100 - Lying on the left side
   */
  MANum<int> LyingOnLeftSide;
  /*
   * The robot is lying on the right side
   * 0 - Not in position 100 - Lying on the right side
   */
  MANum<int> LyingOnRightSide;
  /*
   * The robot is in sitting position
   * 0 - Not sitting 100 - Sitting
   */
  MANum<int> Sitting;
  /*
   * The robot is held and carried in the air ("flying")
   * 0 - Not flying 100 - Flying
   */
  MANum<int> Flying;
  /*
   * The robot body is poked
   * 0 - Not poked 100 - Poked
   */
  MANum<int> Poked;
  /*
   * Whenever the robot body performs a Skitter playback
   * 0 - Normal 1 - Skitter playback in progress
   */
  MANum<int> SkitterPlayback;
  MAFloorSurface Floor;
  MANum<int> BodyState;
  MANum<int> InMotion;
  MANum<int> SkitPlayback;
  MANum<int> MotionControlAge;
private:
  MAIntervalNum<int> BackStrokedFactor;
  MAIntervalNum<int> LyingOnBackFactor;
  MAIntervalNum<int> LyingOnBackLeftSideFactor;
  MAIntervalNum<int> LyingOnBackRightSideFactor;
  MAIntervalNum<int> BodyOnLeftSideFactor;
  MAIntervalNum<int> BodyOnRightSideFactor;
  MAIntervalNum<int> LyingFactor;
  MAIntervalNum<int> LyingOnLeftSideFactor;
  MAIntervalNum<int> LyingOnRightSideFactor;
  MAIntervalNum<int> SittingFactor;
  MAIntervalNum<int> FlyingFactor;
  MAIntervalNum<int> PokedFactor;
  MCTimer MotionControlTimer;
};